CN105659763B - A kind of space locking docking mechanism - Google Patents
A kind of space locking docking mechanismInfo
- Publication number
- CN105659763B CN105659763B CN200910124008.8A CN200910124008A CN105659763B CN 105659763 B CN105659763 B CN 105659763B CN 200910124008 A CN200910124008 A CN 200910124008A CN 105659763 B CN105659763 B CN 105659763B
- Authority
- CN
- China
- Prior art keywords
- connecting rod
- locking
- travel
- locking connecting
- screw
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Links
- 238000003032 molecular docking Methods 0.000 title claims abstract description 11
- 238000007906 compression Methods 0.000 abstract description 2
- 238000005516 engineering process Methods 0.000 description 5
- 210000001847 Jaw Anatomy 0.000 description 3
- 230000001808 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000002441 reversible Effects 0.000 description 1
Abstract
A kind of space locking docking mechanism, travel(l)ing rest is enclosed within on fixed support and fixed support motion relatively, and two " > " shape locking connecting rod symmetries are hinged on travel(l)ing rest both sides, and locking connecting rod inner surface leaves groove. Disk spring is arranged on travel(l)ing rest bottom, the nut axial restraint of ball-screw, and the screw rod of ball-screw is successively through travel(l)ing rest, disk spring and fixed support, and end is connected with bracing frame, and bracing frame is supported in the groove of locking connecting rod. The two ends of storage spring are separately fixed at restoring force when travel(l)ing rest and locking provide locking connecting rod relative motion holder pivots on connecting rod. During work, the nut of ball-screw rotates under external force, the screw rod of ball-screw is driven to drive bracing frame, locking connecting rod, travel(l)ing rest to move together, after moving to certain distance, be fixed support compression of disk spring, bracing frame skids off and slides along locking connecting rod inner surface in the inner surface recesses of locking connecting rod, and the upper end of locking connecting rod is strutted to the locking realizing target.<pb pnum="1" />
Description
Technical field
The present invention relates to locking device when a kind of extraterrestrial target is caught.
Background technology
Space manipulator is that on space station, the mankind are engaged in the requisite instrument of solar-system operation, as large space stationCabin section catch with dock, instrument and equipment assembling with safeguard, auxiliary astronaut operation etc., all need space mechanismThe cooperation of arm could be carried out preferably.
Space manipulator end crawl technology is one of key technology of space manipulator, and space manipulator endEnd grabbing device is then the critical component of space manipulator. Number of patent application is US4929011, and name is calledThe knot that U.S. patents disclose a kind of space manipulator end grabbing device of " GRAPPLEFIXTURE "Structure, it is primarily of catching and several portions such as docking facilities, retaining mechanism, electrical connection mechanism and driven unitBe grouped into, realized catching, dock, locking target by capturing the destination adapter being arranged in targetTight and electrical connection. Retaining mechanism forms primarily of several parts such as motor, straight-tooth train, leading screw and locking jaw,Operation principle is as follows: in retaining mechanism work original state, locking jaw opens, machine operation, passes through straight-toothTrain drives leading screw bolt rotary, and under the promotion of feed screw nut, locking jaw draws in, and finally locks target.Similar to retaining mechanism, electrical connection mechanism is also the execution by other a set of straight-tooth train and leading screw compositionMechanism realizes the electrical connection with target.
Mainly there is the problem of the following aspects in above-mentioned retaining mechanism: (1) locking and electrical connection divide by twoCover executing agency realizes, and this brings repeatability and complexity to mechanism design, and drive motors need by twoDifferent straight-tooth trains is to meet the needs that drive respectively locking and electrical connection mechanism; (2) this end capturesDevice locking and electrical connection do not have synchronism and adopt same drive motors to drive, and this also establishes to mechanismMeter and mechanism driving conceptual design bring complexity, and drive motors need to be installed special clutch to meet twoPlant mechanism's requirements of one's work simultaneously; (3) locking and electrical connection two independently mechanism driving scheme make machineThe value volume and range of product of structure movable part is more, and this not only causes the weight of whole end grasping system comparatively large, andAnd unreliability factors is also more.
Summary of the invention
Technology of the present invention is dealt with problems and is: overcome the deficiencies in the prior art, provide a kind of structure simple,The space locking docking mechanism that reliability is high.
Technical solution of the present invention is: a kind of space locking docking mechanism, comprises fixed support, activitySupport, locking connecting rod, electric connector, bracing frame, storage spring, disk spring and ball-screw; FixingBracket side surface have employed cam design, and cam face forms by facing directly with inclined-plane two parts, travel(l)ing rest coverAlso fixed support motion relatively on fixed support; The locking connecting rod symmetry of two " > " shape structures is hinged onThe both sides of travel(l)ing rest, pin joint is positioned at the center of locking connecting rod, and locking connecting rod inner surface leaves groove;Disk spring is arranged on travel(l)ing rest bottom, and the nut axial restraint of ball-screw, the screw rod of ball-screw is complied withInferior to travel(l)ing rest, disk spring and fixed support, the end of screw rod is connected with bracing frame, bracing frameTwo ends are supported in the groove of two locking connecting rods; Electric connector is fixedly mounted on bracing frame; Storage springTwo ends be separately fixed on travel(l)ing rest and locking connecting rod, turn for locking connecting rod relative motion support is providedRestoring force when dynamic; During work, the nut of ball-screw rotates under external force, driving ball-screwScrew rod drives bracing frame, locking connecting rod, travel(l)ing rest to move together, when the relative fixed support fortune of travel(l)ing restAfter moving certain distance, disk spring contacts with fixed support and is compressed, and bracing frame is from locking connecting rodIn surface groove, skid off and slide along the inner surface of locking connecting rod, the upper end of locking connecting rod is strutted, and it is right to realizeLocking and the electrical connection of target. The lower end of described locking connecting rod inner side, or locking connecting rod outside is upperEnd, or the two ends of bracing frame are provided with scroll wheel, for reducing the frictional force of contact surface.
The present invention's advantage is compared with prior art: the present invention is realizing locking and electric linkage functionUnder prerequisite, by changing the kind of drive of ball-screw, by ball-screw bolt rotary, nut straight line fortuneDynamic feed screw nut rotation, the screw rod rectilinear motion of becoming, becomes extratensive type by locking form from interior receipts type, thusFor electrical connection provides space, achieve locking and the Integration Design of electric linkage function, i.e. locking withElectric linkage function is realized by set of execution mechanism. Therefore, structure of the present invention is simple, compact, lightweight,The quantity of movable part is relatively less, reliability when improve whole institution staff.
Accompanying drawing explanation
Fig. 1 is the structure chart of docking mechanism of the present invention;
Fig. 2 is state diagram during docking mechanism locking of the present invention.
Detailed description of the invention
Below in conjunction with accompanying drawing, the present invention is further illustrated:
As shown in Figure 1, the present invention is by fixed support 1, travel(l)ing rest 2, locking connecting rod bottom roller 3, lockingConnecting rod 4, locking connecting rod upper roller 5, electric connector 6, electric connector mount pad 7, bracing frame roller 8,Bracing frame 9, storage spring 10, support frame base 11, disk spring 12, outer guide sleeve 13, interior guidingCover 14, ball-screw mount pad 15, ball-screw 16 and bearing 17 form.
Fixed support 1 side surface have employed cam design, and cam face forms by facing directly with inclined-plane two parts,Travel(l)ing rest 2 is enclosed within on fixed support 1 and can moves by relative fixed support 1. Two " > " shape structuresLocking connecting rod 4 symmetry is hinged on the both sides of travel(l)ing rest 2, and pin joint is positioned at the center of locking connecting rod 4,Locking connecting rod upper roller 5 and locking connecting rod bottom roller 3 have been installed respectively in the two ends up and down of locking connecting rod 4, rollThe effect of wheel is friction when reducing motion when the relative fixed support 1 of locking connecting rod 4 and locking target travelResistance. Locking connecting rod 4 inner surface have employed cam design, is made up of groove arc face, inclined-plane and facing directly.Disk spring 12 is arranged on travel(l)ing rest 2 by outer guide sleeve 13, interior fairlead 14, at dish-shaped bulletSpring 12 is by compression time, outer guide sleeve 13 can mutually internally fairlead 14 slide axially, interior fairlead 14 is fixingOn travel(l)ing rest 2.
Ball-screw 16 is arranged on ball-screw mount pad 15, on the nut excircle of ball-screw 16Be processed with straight-tooth, nut two ends are supported by bearing 17. The screw rod of ball-screw 16 is successively through interior fairlead14, disk spring 12, fixed support 1 and travel(l)ing rest 2, the end of screw rod and the bracing frame of bracing frame 9Base 11 connects. The two ends of bracing frame 9 are provided with bracing frame roller 8, and in original state, bracing frame 9 is logicalCross bracing frame roller 8 to be supported in two groove arc faces of locking connecting rods 4. Electric connector 6 is by being electrically connectedConnect device mount pad 7 to be fixedly mounted on bracing frame 9, move with bracing frame. Two of storage spring 10End is separately fixed on travel(l)ing rest 2 and locking connecting rod 4, for locking connecting rod 4 relative motion support is providedRestoring force during 2 rotation, opening and reclaiming and stretch with locking connecting rod 4.
During work, the nut of ball-screw 16 rotates under external force drives, and the screw rod of ball-screw 16 drivesBracing frame 9 linearly moves. Now, bracing frame 9 is constrained on the groove arc face of two locking connecting rods 4In, the rectilinear motion of bracing frame 9, will force two locking connecting rods 4 to have outwardly trend, and nowTwo locking connecting rod 4 fixed support 1 face constraint directly under cannot outwards open by relative motion support 2,The inner surface that support 9 also cannot be locked connecting rod 4 relatively slides, and therefore bracing frame 9 drives locking connecting rod 4 HeTravel(l)ing rest 2 moves together.
After the relative fixed support 1 of travel(l)ing rest 2 moves to certain distance, locking connecting rod bottom roller 3 graduallyBe rolled into the inclined-plane of fixed support 1 by facing directly of fixed support 1, fixed support 1 is to two locking connecting rods 4Constraint remove gradually, under the promotion of bracing frame 9, two locking connecting rod 4 relative motion supports 2 rotateOutwards open gradually, bracing frame roller 8 also rolls out thereupon gradually in the groove arc face of locking connecting rod 4,And roll along locking connecting rod 4 medial slope, make locking connecting rod 4 continue to open, simultaneously in company with travel(l)ing rest2 move forward. When after travel(l)ing rest 2 motion certain distance, the outer guide sleeve 13 of disk spring 12Contact with fixed support 1 lower surface, disk spring 12 compresses, and outer guide sleeve 13 is internal fairlead 14 mutuallyProduce relative motion. Meanwhile, the locking connecting rod upper roller 5 of locking connecting rod 4 is oblique with the target locking slot that is lockedFace contact, and roll along inclined-plane.
When bracing frame roller 8 move to locking connecting rod 4 upper end time, locking connecting rod 4 completely softened,Locking connecting rod 4 is locked in the locking slot that connecting rod upper roller 5 moves to the target that is locked completely, thus realize rightThe locking of target, coupling mechanism force is delivered to by disk spring 12 is locked by travel(l)ing rest 2 and locking connecting rod 4In tight target. Meanwhile, electric connector 6 and realization of goal electrical connection. In the whole course of work,Storage spring 10 produces restoring force, ensures locking connecting rod 4 and bracing frame roller 8 reliable contacts, now rightThe state of connection mechanism as shown in Figure 2.
Aforesaid operations process is reversible, and now the present invention locks docking mechanism and realizes the release to target.
The content not being described in detail in description of the present invention belongs to those skilled in the art's known technology.
Claims (2)
1. a space locking docking mechanism, is characterized in that comprising: fixed support (1), travel(l)ing rest(2), locking connecting rod (4), electric connector (6), bracing frame (9), storage spring (10), dish-shaped bulletSpring (12) and ball-screw (16); Fixed support (1) side surface have employed cam design, cam faceForm by facing directly with inclined-plane two parts, travel(l)ing rest (2) is enclosed within fixed support (1) above also can be relatively fixingSupport (1) motion; Two " > " locking connecting rod (4) symmetry of shape structure is hinged on travel(l)ing rest (2)Both sides, pin joint is positioned at the center of locking connecting rod (4), and locking connecting rod (4) inner surface leaves recessedGroove; Disk spring (12) is arranged on travel(l)ing rest (2) bottom, the nut shaft of ball-screw (16) toFixing, the screw rod of ball-screw (16) is successively through travel(l)ing rest (2), disk spring (12) and fixingSupport (1), the end of screw rod is connected with bracing frame (9), and the two ends of bracing frame (9) are supported on two locksBe close in the groove of bar (4); Electric connector (6) is fixedly mounted on bracing frame (9); Storage spring(10) two ends are separately fixed at travel(l)ing rest (2) and locking connecting rod (4) is upper, connect for locking is providedRestoring force when bar (4) relative motion support (2) rotates; During work, the nut of ball-screw (16)Under external force rotate, drive ball-screw (16) screw rod drive bracing frame (9), locking connecting rod (4),Travel(l)ing rest (2) moves together, when the relative fixed support (1) of travel(l)ing rest (2) moves to a spacingFrom rear, disk spring (12) contacts with fixed support (1) and is compressed, and bracing frame (9) connects from lockingIn the inner surface recesses of bar (4), skid off and slide along the inner surface of locking connecting rod (4), connecting rod (4) will be lockedUpper end strut, realize to the locking of target and electrical connection.
2. a kind of space locking docking mechanism according to claim 1, is characterized in that: describedThe lower end of locking connecting rod (4) inner side, or the upper end in locking connecting rod (4) outside, or bracing frame (9)Two ends scroll wheel is installed, for reducing the frictional force of contact surface.
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105659763B true CN105659763B (en) | 2013-09-04 |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107310754A (en) * | 2017-07-17 | 2017-11-03 | 南京航空航天大学 | A kind of Space Docking Mechanism positioning lock |
| CN107826271A (en) * | 2017-12-07 | 2018-03-23 | 上海宇航系统工程研究所 | Jack catchs type satellite and the rocket connection separation mechanism |
| CN108945532A (en) * | 2018-06-04 | 2018-12-07 | 中国空间技术研究院 | A kind of arresting agency suitable for spacecraft universal architecture surface |
| CN109026996A (en) * | 2018-09-11 | 2018-12-18 | 北京空间飞行器总体设计部 | A kind of magnetic suspension shaft locking protecting device and locking protection system |
| CN111332503A (en) * | 2020-03-10 | 2020-06-26 | 上海卫星工程研究所 | Passive in-orbit docking device for space antenna module |
| CN112124639A (en) * | 2020-09-15 | 2020-12-25 | 哈尔滨工业大学 | Screw nut clamping type docking mechanism and working method thereof |
| CN113184231A (en) * | 2021-05-24 | 2021-07-30 | 北京科技大学 | Small-size space docking mechanism based on profile direction three-jaw locking action time sequence |
| CN115072011A (en) * | 2022-06-28 | 2022-09-20 | 哈尔滨工业大学（深圳） | Multi-arm spacecraft topology-variable mechatronic docking device and docking method |
| CN113764959B (en) * | 2021-08-30 | 2023-08-01 | 北京空间飞行器总体设计部 | Dismounting device for rectangular electric connector |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107310754A (en) * | 2017-07-17 | 2017-11-03 | 南京航空航天大学 | A kind of Space Docking Mechanism positioning lock |
| CN107310754B (en) * | 2017-07-17 | 2020-11-20 | 南京航空航天大学 | Positioning lock of space docking mechanism |
| CN107826271A (en) * | 2017-12-07 | 2018-03-23 | 上海宇航系统工程研究所 | Jack catchs type satellite and the rocket connection separation mechanism |
| CN108945532A (en) * | 2018-06-04 | 2018-12-07 | 中国空间技术研究院 | A kind of arresting agency suitable for spacecraft universal architecture surface |
| CN109026996A (en) * | 2018-09-11 | 2018-12-18 | 北京空间飞行器总体设计部 | A kind of magnetic suspension shaft locking protecting device and locking protection system |
| CN111332503A (en) * | 2020-03-10 | 2020-06-26 | 上海卫星工程研究所 | Passive in-orbit docking device for space antenna module |
| CN111332503B (en) * | 2020-03-10 | 2021-07-02 | 上海卫星工程研究所 | Passive in-orbit docking device for space antenna module |
| CN112124639A (en) * | 2020-09-15 | 2020-12-25 | 哈尔滨工业大学 | Screw nut clamping type docking mechanism and working method thereof |
| CN113184231A (en) * | 2021-05-24 | 2021-07-30 | 北京科技大学 | Small-size space docking mechanism based on profile direction three-jaw locking action time sequence |
| CN113184231B (en) * | 2021-05-24 | 2022-08-05 | 北京科技大学 | Small-size space docking mechanism based on profile direction three-jaw locking action time sequence |
| CN113764959B (en) * | 2021-08-30 | 2023-08-01 | 北京空间飞行器总体设计部 | Dismounting device for rectangular electric connector |
| CN115072011A (en) * | 2022-06-28 | 2022-09-20 | 哈尔滨工业大学（深圳） | Multi-arm spacecraft topology-variable mechatronic docking device and docking method |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR03 | Grant of secret patent right | ||
| DC01 | Secret patent status has been lifted |